diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index dd2a56edbbdb976f2b6d09552fc98c5e2eb11801..2d548e7c1f8932b15f526c07d0e87b6475114cc7 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -110,8 +110,8 @@ namespace armarx::armem::server::robot_state
robotUnit.pollFrequency = std::clamp(robotUnit.pollFrequency, 1, ROBOT_UNIT_MAXIMUM_FREQUENCY);
robotUnit.writer.properties.memoryBatchSize = std::max(static_cast<unsigned int>(1), robotUnit.writer.properties.memoryBatchSize);
- Ice::StringSeq includePaths;
- auto packages = armarx::Application::GetProjectDependencies();
+ std::vector<std::string> includePaths;
+ std::vector<std::string> packages = armarx::Application::GetProjectDependencies();
packages.push_back(Application::GetProjectName());
for (const std::string& projectName : packages)
@@ -122,8 +122,8 @@ namespace armarx::armem::server::robot_state
}
CMakePackageFinder project(projectName);
- auto pathsString = project.getIncludePaths();
- Ice::StringSeq projectIncludePaths = simox::alg::split(pathsString, ";,");
+ std::string pathsString = project.getIncludePaths();
+ std::vector<std::string> projectIncludePaths = simox::alg::split(pathsString, ";,");
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
@@ -140,13 +140,14 @@ namespace armarx::armem::server::robot_state
robotUnit.plugin->waitUntilRobotUnitIsRunning();
}
RobotUnitInterfacePrx robotUnitPrx = robotUnit.plugin->getRobotUnit();
- ARMARX_CHECK_NOT_NULL(robotUnitPrx->getKinematicUnit());
+ ARMARX_CHECK_NOT_NULL(robotUnitPrx->getKinematicUnit())
+ << "Robot unit '" << robotUnit.plugin->getRobotUnitName() << "' must have a kinematic unit.";
- descriptionSegment.connect(getArvizClient(), robotUnitPrx);
+ descriptionSegment.connect(robotUnitPrx);
- proprioceptionSegment.connect(getArvizClient(), robotUnitPrx);
+ proprioceptionSegment.connect(robotUnitPrx);
- localizationSegment.connect(getArvizClient());
+ localizationSegment.connect();
commonVisu.connect(getArvizClient());
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index d249678b6a9232ebc32743091f2038e0ed1ea3e5..39048334904470b929e0ebe045083a63d4f59125 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -26,18 +26,11 @@
#include <atomic>
#include <optional>
#include <queue>
-#include <thread>
-
-// Simox
-#include <SimoxUtility/meta/enum/adapt_enum.h>
// ArmarX
#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/services/tasks/RunningTask.h>
-
-// BaseClass
-#include "RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h"
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
@@ -80,26 +73,19 @@ namespace armarx::armem::server::robot_state
RobotStateMemory();
virtual ~RobotStateMemory() override;
- /// @see armarx::ManagedIceObject::getDefaultName()
+
std::string getDefaultName() const override;
+
protected:
- /// @see armarx::ManagedIceObject::onInitComponent()
- void onInitComponent() override;
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
- /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onInitComponent() override;
void onConnectComponent() override;
-
- /// @see armarx::ManagedIceObject::onDisconnectComponent()
void onDisconnectComponent() override;
-
- /// @see armarx::ManagedIceObject::onExitComponent()
void onExitComponent() override;
- /// @see PropertyUser::createPropertyDefinitions()
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
-
private:
diff --git a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
index 425b5af02da13e58f4a654a0784029f5fbe9a9e0..354ac2efcb9b7caa8a20eff748485db6b9e33403 100644
--- a/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp
@@ -57,11 +57,12 @@ namespace armarx::armem::server::obj::articulated_object_class
}
}
- void Segment::connect(viz::Client arviz)
+
+ void Segment::connect()
{
- // this->visu = std::make_unique<Visu>(arviz, *this);
}
+
void Segment::loadByObjectFinder(const std::string& package)
{
ObjectFinder finder(package);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
index 47660fc439e597f4c8f59bbcff666223c5964e18..676a83e722e2356942252814675e7bcbac839edc 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp
@@ -149,10 +149,4 @@ namespace armarx::armem::client::robot_state::localization
return updateResult.success;
}
- // const std::string& TransformWriter::getPropertyPrefix() const
- // {
- // return propertyPrefix;
- // }
-
-
} // namespace armarx::armem::client::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index 370f6f55bdcc6404d1129eee05474e379ca4120d..8c8d1fcac040b511b9d2cd30e425df0364200783 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -63,9 +63,8 @@ namespace armarx::armem::server::robot_state::description
}
- void Segment::connect(const viz::Client& arviz, const RobotUnitInterfacePrx& robotUnitPrx)
+ void Segment::connect(const RobotUnitInterfacePrx& robotUnitPrx)
{
- // this->visu = std::make_unique<Visu>(arviz, *this);
robotUnit = robotUnitPrx;
// store the robot description linked to the robot unit in this segment
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.h
index 073c40230dbd3075a9a7f6f8422fb25ffbf2c069..2411180a314d1953ad49a667e39236022ed3d16e 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.h
@@ -21,7 +21,6 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <string>
#include <optional>
#include <mutex>
@@ -30,8 +29,7 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
-#include <RobotAPI/components/ArViz/Client/Client.h>
-
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem_objects/types.h>
@@ -52,8 +50,6 @@ namespace armarx::armem
namespace armarx::armem::server::robot_state::description
{
- class Visu;
-
class Segment : public armarx::Logging
{
public:
@@ -63,7 +59,7 @@ namespace armarx::armem::server::robot_state::description
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
void init();
- void connect(const viz::Client& arviz, const RobotUnitInterfacePrx& robotUnitPrx);
+ void connect(const RobotUnitInterfacePrx& robotUnitPrx);
std::mutex& mutex() const;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index d2c02be7e3984418aeb0304d21017768a323e256..75d412a201933a07089ab6433f757533a11fd77d 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -1,7 +1,6 @@
#include "Segment.h"
// STL
-
#include <iterator>
#include <sstream>
@@ -12,6 +11,8 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/PluginAll.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
@@ -36,6 +37,7 @@
#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
+
namespace armarx::armem::server::robot_state::localization
{
@@ -65,16 +67,13 @@ namespace armarx::armem::server::robot_state::localization
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
ARMARX_INFO << "Adding core segment '" << p.coreSegment << "'";
-
- coreSegment = &iceMemory.workingMemory->addCoreSegment(
- p.coreSegment, arondto::Transform::toAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegment, arondto::Transform::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
- void Segment::connect(viz::Client arviz)
+ void Segment::connect()
{
- // this->visu = std::make_unique<Visu>(arviz, *this);
}
@@ -101,20 +100,15 @@ namespace armarx::armem::server::robot_state::localization
RobotFramePoseMap frames;
- const auto& localizationCoreSegment =
- iceMemory.workingMemory->getCoreSegment(p.coreSegment);
- const auto knownRobots = simox::alg::get_keys(localizationCoreSegment);
-
+ const auto knownRobots = simox::alg::get_keys(*coreSegment);
for (const auto& robotName : knownRobots)
{
-
TransformQuery query{.header{.parentFrame = GlobalFrame,
.frame = "root", // TODO, FIXME
.agent = robotName,
.timestamp = timestamp}};
- const auto result = TransformHelper::lookupTransformChain(localizationCoreSegment, query);
-
+ const auto result = TransformHelper::lookupTransformChain(*coreSegment, query);
if (not result)
{
// TODO
@@ -142,17 +136,14 @@ namespace armarx::armem::server::robot_state::localization
Segment::RobotPoseMap
Segment::getRobotGlobalPoses(const armem::Time& timestamp) const
{
-
using common::robot_state::localization::TransformHelper;
using common::robot_state::localization::TransformQuery;
RobotPoseMap robotGlobalPoses;
- const auto& localizationCoreSegment =
- iceMemory.workingMemory->getCoreSegment(p.coreSegment);
- const auto knownRobots = simox::alg::get_keys(localizationCoreSegment);
+ const std::vector<std::string> knownRobots = simox::alg::get_keys(*coreSegment);
- for (const auto& robotName : knownRobots)
+ for (const std::string& robotName : knownRobots)
{
TransformQuery query{.header{.parentFrame = GlobalFrame,
@@ -160,8 +151,7 @@ namespace armarx::armem::server::robot_state::localization
.agent = robotName,
.timestamp = timestamp}};
- const auto result = TransformHelper::lookupTransform(localizationCoreSegment, query);
-
+ const auto result = TransformHelper::lookupTransform(*coreSegment, query);
if (not result)
{
// TODO
@@ -171,7 +161,7 @@ namespace armarx::armem::server::robot_state::localization
robotGlobalPoses.emplace(robotName, result.transform.transform);
}
- ARMARX_INFO << deactivateSpam(10)
+ ARMARX_INFO << deactivateSpam(60)
<< "Number of known robot poses: " << robotGlobalPoses.size();
return robotGlobalPoses;
@@ -204,74 +194,4 @@ namespace armarx::armem::server::robot_state::localization
return result.allSuccess();
}
- // std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> Segment::getKnownObjectClasses() const
- // {
- // std::unordered_map<armem::MemoryID, ::armarx::armem::articulated_object::ArticulatedObjectDescription> objects;
-
- // for (const auto& [_, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreClassSegmentName))
- // {
- // for (const auto& [name, entity] : provSeg.entities())
- // {
- // const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
- // const auto description = articulated_object::convertRobotDescription(entityInstance);
-
- // if (not description)
- // {
- // ARMARX_WARNING << "Could not convert entity instance to 'RobotDescription'";
- // continue;
- // }
-
- // ARMARX_INFO << "Key is " << armem::MemoryID(entity.id());
-
- // objects.emplace(armem::MemoryID(entity.id()), *description);
- // }
- // }
-
- // ARMARX_IMPORTANT << "Number of known articulated object classes: " << objects.size();
-
- // return objects;
- // }
-
- // void Segment::RemoteGui::setup(const Segment& data)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
- // maxHistorySize.setRange(1, 1e6);
- // infiniteHistory.setValue(data.p.maxHistorySize == -1);
- // discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
- // GridLayout grid;
- // int row = 0;
- // grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
- // row++;
- // grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
- // row++;
- // grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
- // row++;
-
- // group.setLabel("Data");
- // group.addChild(grid);
- // }
-
- // void Segment::RemoteGui::update(Segment& data)
- // {
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
- // || discardSnapshotsWhileAttached.hasValueChanged())
- // {
- // std::scoped_lock lock(data.memoryMutex);
-
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
- // {
- // data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- // if (data.coreSegment)
- // {
- // data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
- // }
- // }
-
- // data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
- // }
- // }
-
} // namespace armarx::armem::server::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
index 4bc4e607be80db6229076e8d9ac22abd4f55dde2..d1ce5de2208f6fbcd32a99a8837710fcfba80f31 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
@@ -27,17 +27,13 @@
#include <unordered_map>
#include <ArmarXCore/core/logging/Logging.h>
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
-
-// #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
-
-#include "RobotAPI/components/ArViz/Client/Client.h"
-
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem_objects/types.h"
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
#include <RobotAPI/libraries/armem_robot_state/types.h>
+
namespace armarx::armem
{
namespace server
@@ -54,8 +50,6 @@ namespace armarx::armem
namespace armarx::armem::server::robot_state::localization
{
- class Visu;
-
class Segment : public armarx::Logging
{
public:
@@ -71,7 +65,7 @@ namespace armarx::armem::server::robot_state::localization
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
void init();
- void connect(viz::Client arviz);
+ void connect();
std::mutex& mutex() const;
@@ -95,22 +89,6 @@ namespace armarx::armem::server::robot_state::localization
};
Properties p;
- // std::unique_ptr<Visu> visu;
-
- public:
-
- // struct RemoteGui
- // {
- // armarx::RemoteGui::Client::GroupBox group;
-
- // armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
- // armarx::RemoteGui::Client::CheckBox infiniteHistory;
- // armarx::RemoteGui::Client::CheckBox discardSnapshotsWhileAttached;
-
- // void setup(const Segment& data);
- // void update(Segment& data);
- // };
-
};
} // namespace armarx::armem::server::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 6885f5b0f070d6555bf88a703877a401db555d0c..043774b77c9d92511b2e236e03d0d8ab6352377e 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -1,13 +1,13 @@
#include "Segment.h"
-#include <mutex>
#include <sstream>
-#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
-#include <RobotAPI/libraries/armem_robot_state/types.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot_state/types.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/workingmemory/visitor.h>
@@ -16,6 +16,7 @@
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <RobotAPI/libraries/armem/util/util.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
@@ -23,7 +24,6 @@
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
-#include <RobotAPI/libraries/armem/util/util.h>
namespace armarx::armem::server::robot_state::proprioception
@@ -40,8 +40,8 @@ namespace armarx::armem::server::robot_state::proprioception
void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
- defs->optional(p.coreSegment, prefix + "seg.proprioception.CoreSegment", "Name of the object instance core segment.");
- defs->optional(p.maxHistorySize, prefix + "seg.proprioception.MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
+ defs->optional(p.coreSegmentName, prefix + "seg.proprioception.CoreSegment", "Name of the proprioception core segment.");
+ defs->optional(p.maxHistorySize, prefix + "seg.proprioception.MaxHistorySize", "Maximal size of proprioception entity histories (-1 for infinite).");
}
@@ -49,18 +49,19 @@ namespace armarx::armem::server::robot_state::proprioception
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- ARMARX_INFO << "Adding core segment '" << p.coreSegment << "'";
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegment);
+ ARMARX_INFO << "Adding core segment '" << p.coreSegmentName << "'";
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName);
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
- void Segment::connect(viz::Client arviz, RobotUnitInterfacePrx robotUnitPrx)
+ void Segment::connect(RobotUnitInterfacePrx robotUnitPrx)
{
- robotUnit = robotUnitPrx;
+ this->robotUnit = robotUnitPrx;
- auto kinematicUnit = robotUnit->getKinematicUnit();
- const auto providerSegmentName = kinematicUnit->getRobotName();
+ KinematicUnitInterfacePrx kinematicUnit = robotUnit->getKinematicUnit();
+ const std::string providerSegmentName = kinematicUnit->getRobotName();
+ this->robotUnitProviderID = coreSegment->id().withProviderSegmentName(providerSegmentName);
// TODO what is the purpose?
auto encoderEntryType = std::make_shared<aron::typenavigator::ObjectNavigator>("RobotUnitEncoderEntry");
@@ -150,6 +151,7 @@ namespace armarx::armem::server::robot_state::proprioception
}
else
{
+ // This may happen, just ignore it.
// ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
}
TIMING_END_COMMENT_STREAM(tEmplace, "tEmplace " + std::to_string(i), ARMARX_VERBOSE);
@@ -172,53 +174,10 @@ namespace armarx::armem::server::robot_state::proprioception
return jointMap;
}
+
const armem::MemoryID& Segment::getRobotUnitProviderID() const
{
return robotUnitProviderID;
}
-
-
- // void Segment::RemoteGui::setup(const Segment& data)
- // {
- // using namespace armarx::RemoteGui::Client;
-
- // maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
- // maxHistorySize.setRange(1, 1e6);
- // infiniteHistory.setValue(data.p.maxHistorySize == -1);
- // discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
-
- // GridLayout grid;
- // int row = 0;
- // grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
- // row++;
- // grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
- // row++;
- // grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
- // row++;
-
- // group.setLabel("Data");
- // group.addChild(grid);
- // }
-
- // void Segment::RemoteGui::update(Segment& data)
- // {
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
- // || discardSnapshotsWhileAttached.hasValueChanged())
- // {
- // std::scoped_lock lock(data.memoryMutex);
-
- // if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
- // {
- // data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
- // if (data.coreSegment)
- // {
- // data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
- // }
- // }
-
- // data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
- // }
- // }
-
} // namespace armarx::armem::server::robot_state::proprioception
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
index 10f7297a7e3a4ba7756344a94602e32fb1c6095f..abc827c90d236c57e76624de5b16b71a8e48f8b0 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
@@ -21,21 +21,19 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <string>
#include <optional>
#include <mutex>
#include <unordered_map>
#include <ArmarXCore/core/logging/Logging.h>
-#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
-
-// #include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
-#include "RobotAPI/components/ArViz/Client/Client.h"
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
+#include <RobotAPI/components/ArViz/Client/Client.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem_objects/types.h"
namespace armarx::armem
{
@@ -53,8 +51,6 @@ namespace armarx::armem
namespace armarx::armem::server::robot_state::proprioception
{
- class Visu;
-
class Segment : public armarx::Logging
{
public:
@@ -68,7 +64,7 @@ namespace armarx::armem::server::robot_state::proprioception
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
void init();
- void connect(viz::Client arviz, RobotUnitInterfacePrx robotUnitPrx);
+ void connect(RobotUnitInterfacePrx robotUnitPrx);
std::mutex& mutex() const;
@@ -85,32 +81,15 @@ namespace armarx::armem::server::robot_state::proprioception
wm::CoreSegment* coreSegment = nullptr;
RobotUnitInterfacePrx robotUnit;
-
armem::MemoryID robotUnitProviderID;
struct Properties
{
- std::string coreSegment = "Proprioception";
+ std::string coreSegmentName = "Proprioception";
int64_t maxHistorySize = 1000;
};
Properties p;
- // std::unique_ptr<Visu> visu;
-
- public:
-
- // struct RemoteGui
- // {
- // armarx::RemoteGui::Client::GroupBox group;
-
- // armarx::RemoteGui::Client::IntSpinBox maxHistorySize;
- // armarx::RemoteGui::Client::CheckBox infiniteHistory;
- // armarx::RemoteGui::Client::CheckBox discardSnapshotsWhileAttached;
-
- // void setup(const Segment& data);
- // void update(Segment& data);
- // };
-
};
} // namespace armarx::armem::server::robot_state::proprioception